mstoeckl / udpee Goto Github PK

                 UDPEE

This program reads standard input and writes it (line buffered) to stardard output and via UDP to port 6666. It can optionally log its input to a file.

To install, cross-compile the program with the arm-none-linux-gnueabi-4.4.1 toolchain (you may need to adjust your $PATH) and ftp copy it to /home/admin/udpee_arm. Then edit /usr/local/frc/bin/frcRunRobot.sh and, in one of the last lines, replace

[... preceding code] > {logfile} 2>&1

with

[... preceding code] | /home/admin/udpee_arm broadcast {logfile} 2>&1

One small adjustment must be made to the robot code: because stdout and stderr are buffered in large chunks when the receiving end of the pipe is not a tty, packets are only sent when a new chunk is delivered. Adding the calls (from stdio.h)

   setlinebuf(stdin);
   setlinebuf(stdout);

somewhere in the robot initialization code should enable the helper utility to send every line as soon as it is written (std::cout << x << std::endl; flushes the buffer, so if you only use C++ style IO this adjustment is unnecessary).